title: Admittance control scheme for implementing model-based assistance-as-needed on a robot.
abstract: A model-based assistance-as-needed paradigm has been developed to govern the assistance provided by an assistive robot to its operator. This paradigm has advantages over existing methods of providing assistance-as-needed for applications such as robotic rehabilitation. However, implementation of the model-based paradigm requires a control scheme to be developed which controls the robot so as to provide the assistance calculated by the model-based paradigm to its operator. In this paper an admittance control scheme for providing model-based assistance-as-needed is presented. It is developed considering its suitability for human-robot interaction, and its role within the model-based assistance-as-needed framework. Results from the control implemented on an example robot showed it is capable of providing the operator with the desired level of assistance as governed by the model-based paradigm. This is an essential requirement for the paradigm to be capable of providing efficacious assistance-as-needed in applications such as robotic rehabilitation.
authors.forename: Marc G
authors.initials: MG
authors.lastname: Carmichael
authors.forename: Dikai
authors.initials: D
authors.lastname: Liu
mesh_terms: D000465:Algorithms; D006801:Humans; D008962:Models, Theoretical; D016571:Neural Networks, Computer; D015203:Reproducibility of Results; D012371:Robotics